U.S. patent application number 14/222325 was filed with the patent office on 2015-07-02 for motor driving control apparatus and method, and motor driving system using the same.
This patent application is currently assigned to SAMSUNG ELECTRO-MECHANICS CO., LTD.. The applicant listed for this patent is SAMSUNG ELECTRO-MECHANICS CO., LTD.. Invention is credited to Joo Yul Ko, Sang Hyun Park.
Application Number | 20150188461 14/222325 |
Document ID | / |
Family ID | 53483031 |
Filed Date | 2015-07-02 |
United States Patent
Application |
20150188461 |
Kind Code |
A1 |
Park; Sang Hyun ; et
al. |
July 2, 2015 |
MOTOR DRIVING CONTROL APPARATUS AND METHOD, AND MOTOR DRIVING
SYSTEM USING THE SAME
Abstract
A motor driving control apparatus may include: a speed
estimating unit calculating an estimated speed of a rotor of a
motor apparatus by using phase currents flowing in a plurality of
phases of the motor apparatus; a speed controlling unit generating
an instruction speed by using the estimated speed and a target
speed input from the outside; and a control determining unit
controlling the motor apparatus to perform one of a sensorless
control operation using the instruction speed and a preset
synchronous start control operation, depending on whether or not
the estimated speed is equal to or less than a preset value.
Inventors: |
Park; Sang Hyun; (Suwon-Si,
KR) ; Ko; Joo Yul; (Suwon-Si, KR) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SAMSUNG ELECTRO-MECHANICS CO., LTD. |
Suwon-Si |
|
KR |
|
|
Assignee: |
SAMSUNG ELECTRO-MECHANICS CO.,
LTD.
Suwon-Si
KR
|
Family ID: |
53483031 |
Appl. No.: |
14/222325 |
Filed: |
March 21, 2014 |
Current U.S.
Class: |
318/400.02 ;
318/400.11 |
Current CPC
Class: |
H02P 21/34 20160201;
H02P 6/06 20130101; H02P 6/21 20160201; H02P 21/18 20160201 |
International
Class: |
H02P 6/06 20060101
H02P006/06; H02P 21/00 20060101 H02P021/00; H02P 6/20 20060101
H02P006/20 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 30, 2013 |
KR |
10-2013-0167352 |
Claims
1. A motor driving control apparatus comprising: a speed estimating
unit calculating an estimated speed of a rotor of a motor apparatus
by using phase currents flowing in a plurality of phases of the
motor apparatus; a speed controlling unit generating an instruction
speed by using the estimated speed and a target speed input from
the outside; and a control determining unit controlling the motor
apparatus to perform one of a sensorless control operation using
the instruction speed and a preset synchronous start control
operation, depending on whether or not the estimated speed is equal
to or less than a preset value.
2. The motor driving control apparatus of claim 1, wherein the
speed estimating unit and the speed controlling unit are operated
using a vector control method employing a d-q coordinate
system.
3. The motor driving control apparatus of claim 2, further
comprising: a coordinate reverse-converting unit generating a phase
voltage of the motor apparatus by receiving at least one of an
output of the speed controlling unit and an output of the control
determining unit and converting the received output into an N-phase
coordinate system.
4. The motor driving control apparatus of claim 3, wherein the
control determining unit performs the synchronous start control
operation by using the d-q coordinate system when the estimated
speed is equal to or less than the preset value.
5. The motor driving control apparatus of claim 3, wherein the
control determining unit provides magnetic flux angle information
provided from the speed estimating unit to the coordinate
reverse-converting unit when the estimated speed exceeds the preset
value.
6. The motor driving control apparatus of claim 5, wherein the
coordinate reverse-converting unit applies the instruction speed to
the magnetic flux angle information and converts an applied result
into the N-phase coordinate system.
7. A motor driving system, comprising: a motor apparatus including
a plurality of phases; and a motor driving control apparatus
calculating an estimated speed of a rotor of the motor apparatus by
using phase currents flowing in the plurality of phases and
performing a synchronous start control operation depending on
whether or not the calculated estimated speed is equal to or less
than a preset value, wherein the motor driving control apparatus
performs the synchronous start control operation by using a d-q
coordinate system for a vector control method.
8. The motor driving system of claim 7, wherein the motor driving
control apparatus includes: a speed estimating unit calculating the
estimated speed of the rotor of the motor apparatus by using the
phase currents flowing in the plurality of phases of the motor
apparatus; a speed controlling unit generating an instruction speed
by using the estimated speed and a target speed input from the
outside; and a control determining unit controlling the motor
apparatus to perform one of a sensorless control operation using
the instruction speed and a preset synchronous start control
operation, depending on whether or not the estimated speed is equal
to or less than a preset value.
9. The motor driving system of claim 8, wherein the speed
estimating unit and the speed controlling unit are operated by
using the vector control method employing the d-q coordinate
system.
10. The motor driving system of claim 9, wherein the motor driving
control apparatus further includes a coordinate reverse-converting
unit generating a phase voltage of the motor apparatus by receiving
at least one of an output of the speed controlling unit and an
output of the control determining unit and converting the received
output into an N-phase coordinate system.
11. The motor driving system of claim 10, wherein the control
determining unit performs the synchronous start control operation
by using the d-q coordinate system when the estimated speed is
equal to or less than the preset value, and provides magnetic flux
angle information provided from the speed estimating unit to the
coordinate reverse-converting unit when the estimated speed exceeds
the preset value.
12. A motor driving control method performed in a motor driving
control apparatus for controlling a driving of a motor apparatus,
the motor driving control method comprising: estimating an angle of
a rotor of the motor apparatus; performing a synchronous start
control operation by using a vector control method; and calculating
an estimated speed of the rotor and continuously performing the
synchronous start control operation when the estimated speed is
equal to or less than the preset value.
13. The motor driving control method of claim 12, further
comprising: controlling a rotation of the rotor by using an
instruction speed input from the outside according to the vector
control method when the estimated speed exceeds the preset
value.
14. The motor driving control method of claim 12, wherein the
performing of the synchronous start control operation includes:
setting an initial angle and a starting frequency; setting a second
angle; and increasing the starting frequency and re-setting the
second angle when the starting frequency is equal to or less than a
preset frequency.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the priority of Korean Patent
Application No. 10-2013-0167352 filed on Dec. 30, 2013, in the
Korean Intellectual Property Office, the disclosure of which is
incorporated herein by reference.
BACKGROUND
[0002] The present disclosure relates to a motor driving control
apparatus and a motor driving control method, and a motor driving
system using the same.
[0003] In accordance with increasing miniaturization and precision
in motor technology, various types of motor have been developed.
For example, since a permanent magnetic synchronous motor (PMSM)
has excellent performance in view of efficiency, noise, and the
like, as compared to other motors, it has been widely used in
fields requiring high performance motors.
[0004] As a control method of the above-mentioned motor, a
sensorless motor control method has recently been used according to
requirements for miniaturized motors having low manufacturing
costs. The sensorless motor control method estimates a position of
a rotor in a motor by using back electromotive force (BEMF)
generated by an operation of the motor to thereby control the
motor.
[0005] However, in order to stably detect back electromotive force
as mentioned above, it is necessary for the motor to rotate at a
predetermined speed or faster. That is, while back electromotive
force may be easily detected in a state in which the motor is being
driven, it may be difficult to detect back electromotive force in a
case of a starting operation from a state in which the motor is
stopped, and thus, the position of such a rotor may not be able to
be estimated.
[0006] A related art invention for solving the above-mentioned
problem includes a scheme of performing a synchronous start control
method for forcibly aligning the rotor without using back
electromotive force, in a case of a motor being initially started
from a stopped state, or the like.
[0007] In the case of the related art described above, a switching
operation from the synchronous start control to a general driving
control, for example, a control operation using back electromotive
force may be imperfectly conducted, whereby the motor may be
rotated unnaturally.
[0008] Particularly, since a permanent magnet synchronous motor
uses a vector control method in a driving control method, while the
synchronous start control method described above does not use the
vector control, the motor may be rotated unnaturally, due to the
switching operation between the control methods described
above.
SUMMARY
[0009] An exemplary embodiment in the present disclosure may
provide a motor driving control apparatus and a motor driving
control method, capable of freely performing switching between
motor starting and motor driving and securing rotational stability
of a motor even in the case of the switching, by estimating a speed
of the motor and determining that the motor is in a starting state
in a case in which the estimated speed is equal to or less than a
predetermined level to thereby perform a synchronous start control
operation using a vector control method, and a motor driving system
using the same.
[0010] According to an exemplary embodiment in the present
disclosure, a motor driving control apparatus may include: a speed
estimating unit calculating an estimated speed of a rotor of a
motor apparatus by using phase currents flowing in a plurality of
phases of the motor apparatus; a speed controlling unit generating
an instruction speed by using the estimated speed and a target
speed input from the outside; and a control determining unit
controlling the motor apparatus to perform one of a sensorless
control operation using the instruction speed and a preset
synchronous start control operation, depending on whether or not
the estimated speed is equal to or less than a preset value.
[0011] The speed estimating unit and the speed controlling unit may
be operated using a vector control method employing a d-q
coordinate system.
[0012] The motor driving control apparatus may further include: a
coordinate reverse-converting unit generating a phase voltage of
the motor apparatus by receiving at least one of an output of the
speed controlling unit and an output of the control determining
unit and converting the received output into an N-phase coordinate
system.
[0013] The control determining unit may perform the synchronous
start control operation by using the d-q coordinate system when the
estimated speed is equal to or less than the preset value.
[0014] The control determining unit may provide magnetic flux angle
information provided from the speed estimating unit to the
coordinate reverse-converting unit when the estimated speed exceeds
the preset value.
[0015] The coordinate reverse-converting unit may apply the
instruction speed to the magnetic flux angle information and
convert an applied result into the N-phase coordinate system.
[0016] According to an exemplary embodiment in the present
disclosure, a motor driving system may include: a motor apparatus
including a plurality of phases; and motor driving control
apparatus calculating an estimated speed of a rotor of the motor
apparatus by using phase currents flowing in the plurality of
phases and performing a synchronous start control operation
depending on whether or not the calculated estimated speed is equal
to or less than a preset value, herein the motor driving control
apparatus may perform the synchronous start control operation by
using a d-q coordinate system for a vector control method.
[0017] The motor driving control apparatus may include: a speed
estimating unit calculating the estimated speed of the rotor of the
motor apparatus by using the phase currents flowing in the
plurality of phases of the motor apparatus; a speed controlling
unit generating an instruction speed by using the estimated speed
and a target speed input from the outside; and a control
determining unit controlling the motor apparatus to perform one of
a sensorless control operation using the instruction speed and a
preset synchronous start control operation, depending on whether or
not the estimated speed is equal to or less than a preset
value.
[0018] The speed estimating unit and the speed controlling unit may
be operated using the vector control method employing the d-q
coordinate system.
[0019] The motor driving control apparatus may further include a
coordinate reverse-converting unit generating a phase voltage of
the motor apparatus by receiving at least one of an output of the
speed controlling unit and an output of the control determining
unit and converting the received output into an N-phase coordinate
system.
[0020] The control determining unit may perform the synchronous
start control operation by using the d-q coordinate system when the
estimated speed is equal to or less than the preset value, and
provide magnetic flux angle information provided from the speed
estimating unit to the coordinate reverse-converting unit when the
estimated speed exceeds the preset value.
[0021] According to an exemplary embodiment in the present
disclosure, a motor driving control method performed in a motor
driving control apparatus for controlling a driving of a motor
apparatus, may include: estimating an angle of a rotor of the motor
apparatus; performing a synchronous start control operation by
using a vector control method; and calculating an estimated speed
of the rotor and continuously performing the synchronous start
control operation when the estimated speed is equal to or less than
the preset value.
[0022] The motor driving control method may further include
controlling a rotation of the rotor by using an instruction speed
input from the outside according to the vector control method when
the estimated speed exceeds the preset value.
[0023] The performing of the synchronous start control operation
may include: setting an initial angle and a starting frequency;
setting a second angle; and increasing the starting frequency and
re-setting the second angle when the starting frequency is equal to
or less than a preset frequency.
BRIEF DESCRIPTION OF THE DRAWINGS
[0024] The above and other aspects, features and other advantages
of the present disclosure will be more clearly understood from the
following detailed description taken in conjunction with the
accompanying drawings, in which:
[0025] FIG. 1 is a configuration view showing an example of a
general motor driving control apparatus;
[0026] FIG. 2 is a reference diagram illustrating a synchronous
start method implemented in a three-phase coordinate system;
[0027] FIG. 3 is a configuration diagram illustrating a motor
driving system according to an exemplary embodiment of the present
disclosure;
[0028] FIG. 4 is a configuration diagram illustrating a speed
controlling unit according to an exemplary embodiment of the
present disclosure shown in FIG. 3;
[0029] FIG. 5 is a flowchart illustrating a motor driving control
method according to an exemplary embodiment of the present
disclosure;
[0030] FIG. 6 is a flow chart illustrating an example of an
operation S520 of FIG. 5; and
[0031] FIG. 7 is a flow chart illustrating an example of an
operation S550 of FIG. 5.
DETAILED DESCRIPTION
[0032] Exemplary embodiments of the present disclosure will now be
described in detail with reference to the accompanying
drawings.
[0033] The disclosure may, however, be exemplified in many
different forms and should not be construed as being limited to the
specific embodiments set forth herein. Rather, these embodiments
are provided so that this disclosure will be thorough and complete,
and will fully convey the scope of the disclosure to those skilled
in the art.
[0034] In the drawings, the shapes and dimensions of elements may
be exaggerated for clarity, and the same reference numerals will be
used throughout to designate the same or like elements.
[0035] Hereinafter, a motor device refers to a motor apparatus and
a motor driving control apparatus refers to an apparatus for
controlling a driving of the motor apparatus. The motor driving
control apparatus and the motor apparatus collectively refer to a
motor driving system to be described later.
[0036] In addition, although the motor apparatus described below
may be a motor apparatus having a plurality of phases, the present
disclosure will be described based on an example of a three-phase
motor for the convenience of explanation.
[0037] FIG. 1 is a configuration view showing an example of a
general motor driving control apparatus.
[0038] Referring to FIG. 1, a motor driving control apparatus 10
may include a speed estimating unit 11, a speed controlling unit
12, a coordinate converting unit 13, a current controlling unit 14,
a coordinate reverse-converting unit 15, and an inverter unit
16.
[0039] The speed estimating unit 11 may calculate an estimated
speed, for example, an angular speed of a rotor of a motor
apparatus 20 by using back electromotive force of the motor
apparatus 20 to thereby provide the calculated speed to the
coordinate reverse-converting unit 15. In addition, the speed
estimating unit 11 may calculate a magnetic flux angle of the rotor
to thereby provide the calculated magnetic flux angle to the speed
controlling unit 12.
[0040] The speed controlling unit 12 may calculate a difference
between a target speed input from the outside and the estimated
speed input from the speed estimating unit 11 and calculate an
instruction speed corresponding to the difference therebetween. The
coordinate converting unit 13 may perform a coordinate conversion
of the instruction speed into a d-q coordinate system to be
provided to the current controlling unit 14. The current
controlling unit 14 may generate an instruction current
corresponding to the instruction speed.
[0041] The coordinate converting unit 13 may convert a three-phase
coordinate system into the d-q coordinate system and the coordinate
revere-converting unit 15 may convert the d-q coordinate system
into the three-phase coordinate system.
[0042] Meanwhile, an initial driving of the motor apparatus from a
state in which the motor apparatus is stopped, that is, a motor
starting, may be performed by a synchronous accelerating unit 17.
The synchronous accelerating unit 17 may forcedly rotate a rotor by
applying a voltage to a stator in accordance with a preset
sequence, that is, by performing a synchronous start without using
back electromotive force.
[0043] FIG. 2 is a reference diagram illustrating a synchronous
start method implemented in a three-phase coordinate system and a
synchronous start method of the synchronous accelerating unit 17
will be further described with reference to FIG. 2.
[0044] Since the synchronous accelerating unit 17 is operated based
on the three-phase coordinate system for performing the synchronous
start, a plurality of unit voltage vectors as shown in FIG. 2 may
be sequentially applied to a plurality of phases of the motor
apparatus 20.
[0045] That is, the synchronous accelerating unit 17 may use a
scheme in which a voltage is applied to each phase of the motor
apparatus to allow the rotor to be moved and disposed to the phase
to which the voltage is applied. For example, when it is desired to
rotate the motor in a counterclockwise direction, the motor may be
rotated by applying the voltage in order of
V1->V2->V3->V4->V5->V6->V1 and when it is desired
to rotate the motor in a clockwise direction, the motor may be
rotated by applying the voltage in a direction opposite to the
direction in which the voltage is applied.
[0046] As such, if the start is performed through the synchronous
start method by the synchronous accelerating unit 17, then the
motor apparatus 20 is rotated, whereby back electromotive may be
generated. If back electromotive force is generated, then the motor
apparatus 20 may be driven through a sensorless operation by the
speed estimating unit 11, the controlling unit 12, and the
coordinate converting unit 13 as described above.
[0047] The motor driving control apparatus 10 shown in FIG. 1
allows the signal applied to the motor apparatus 20 to be
non-continuously provided at a time in which the driving and the
starting are switched, whereby the motor apparatus 20 may be
unstably rotated.
[0048] Hereinafter, various exemplary embodiments of the present
disclosure capable of solving the limitations described above will
be described with reference to FIGS. 3 through 7.
[0049] FIG. 3 is a configuration diagram illustrating a motor
driving system according to an exemplary embodiment of the present
disclosure.
[0050] Referring to FIG. 3, the motor driving system may include a
motor driving control apparatus 100 and a motor apparatus 200.
[0051] The motor apparatus 200 may include a plurality of phases
and FIG. 3 shows an example of a three-phase motor.
[0052] The motor driving control apparatus 100 may calculate an
estimated speed of a rotor of the motor apparatus by using phase
currents flowing in the plurality of phases and may perform a
synchronous start control operation depending on whether or not the
calculated estimated speed is equal to or less than a preset value.
Here, the motor driving control apparatus 100 may perform the
synchronous start control operation by using the d-q coordinate
system.
[0053] More specifically, the motor driving control apparatus 100
may include a speed estimating unit 110, a speed controlling unit
120, a coordinate converting unit 130, a current controlling unit
140, a control determining unit 150, a coordinate
reverse-converting unit 160, and an inverter unit 170.
[0054] The speed estimating unit 110 may calculate the estimated
speed of the rotor of the motor apparatus 200 by using back
electromotive force of the motor apparatus 200.
[0055] For example, the speed estimating unit 110 may calculate the
phase current from back electromotive force detected by the motor
apparatus 200 and may obtain an angular speed (corresponding to the
estimated speed) and a magnetic flux angle of the rotor by using
the calculated phase current and the voltage provided to the motor
apparatus 200.
[0056] The speed estimating unit 110 may provide the calculated
estimated speed of the rotor to the current controlling unit 140.
In addition, the speed estimating unit 110 may provide the
calculated magnetic flux angle to the control determining unit
150.
[0057] The speed controlling unit 120 may calculate a difference
between a target speed input from the outside and the estimated
speed input from the speed estimating unit 110 and calculate an
instruction speed corresponding to the difference.
[0058] The coordinate converting unit 130 may receive an estimated
angle from the speed estimating unit 110 and may perform a
coordinate conversion into a d-q coordinate system, using the
estimated angle. The current controlling unit 140 may perform a
current control operation by using the d-q coordinate system.
[0059] For example, the speed controlling unit 120 may compare a
target speed input from the outside and the estimated speed
calculated by the speed estimating unit 110 with each other to
thereby determine an increase or decrease in a speed of the motor
apparatus 200. The current controlling unit 140 may generate and
output an instruction current, depending on the difference between
the target speed and the estimated speed.
[0060] The output of the current controlling unit 140 may be input
to the coordinate reverse-converting unit 160 and then converted
into an N-phase coordinate system, for example, the three-phase
coordinate system to thereby be provided to the inverter unit 170.
The reason is that calculation of a logical drive control of the
motor needs to provide a phase voltage to each phase of the motor
apparatus 200 by using the N-phase coordinate system in order to
physically control the motor apparatus 200 even if a vector control
method employing the d-q coordinate system is used.
[0061] As described above, a sensorless drive control operation of
calculating the estimated speed using back electromotive force and
controlling the driving of the motor apparatus 200 using the
estimated speed may be performed on the basis of the detection of
back electromotive force. Therefore, in the case in which the speed
of the motor apparatus 200 is not sufficient to detect back
electromotive force, it is difficult to use the sensorless drive
control operation.
[0062] Therefore, in the case in which the motor apparatus 200 is
in a stopped state or is rotated at a very slow speed, the motor
driving control apparatus 100 may perform a synchronous start
control operation. Therefore, a switching operation into a
sensorless drive control operation or the synchronous start control
operation may be required, and according to the present disclosure,
the switching operation into the sensorless drive control operation
or the synchronous start control operation may be performed by the
control determining unit 150.
[0063] The control determining unit 150 may control the motor
apparatus to perform one of the sensorless drive control operation
using the instruction speed, and a preset synchronous start control
operation, depending on whether or not the estimated speed provided
from the speed estimating unit 110 is equal to or less than a
preset value.
[0064] Here, the control determining unit 150 may perform the
synchronous start control operation by using the d-q coordinate
system. Therefore, since the synchronous start control operation as
well as the sensorless drive control operation may use the d-q
coordinate system, an irregular driving of the motor apparatus 200
caused by the switching of the coordinate system may be prevented
even in the case in which the switching operation is performed from
the synchronous start control operation to the sensorless drive
control operation.
[0065] According to an exemplary embodiment of the present
disclosure, in the case in which the estimated speed is equal to or
less than a preset value, the control determining unit 150 may
control the motor apparatus to perform the synchronous start
control operation by using the d-q coordinate system. That is, in
the case in which the estimated speed is equal to or less than a
preset value, the control determining unit 150 may perform the
preset synchronous start control operation by using the vector
control method. The synchronous start control operation may be
performed by a loop circuit configured by the speed estimating unit
110, the control determining unit 150, the coordinate converting
unit 130 and the motor apparatus 200. In this case, the speed
controlling unit 120 is not involved in the synchronous start
control operation.
[0066] According to another exemplary embodiment of the present
disclosure, in the case in which the estimated speed is equal to or
less than a preset value, the control determining unit 150 may
provide magnetic flux angle information provided from the speed
estimating unit 110 to the coordinate reverse-converting unit 160.
The sensorless drive control operation may be performed using
magnetic flux angle information and the instruction speed of the
speed controlling unit 120. Therefore, the coordinate
reverse-converting unit 160 may apply the instruction speed to
magnetic flux angle information and convert the applied result into
the N-phase coordinate system to thereby provide the N-phase
coordinate system to the motor apparatus 200 as a phase
voltage.
[0067] FIG. 4 is a configuration diagram illustrating a speed
controlling unit according to an exemplary embodiment of the
present disclosure shown in FIG. 3. Hereinafter, various components
of the speed controlling unit will be described with reference to
FIG. 4.
[0068] Referring to FIG. 4, the speed controlling unit 120 may
include a speed controller 121 and a current controller 122.
[0069] The speed controller 121 may receive the estimated speed
from the speed estimating unit 110 and may receive the target speed
from the outside. The speed controller 121 may calculate the
instruction speed by using a difference between the estimated speed
and the target speed and may provide the calculated instruction
speed to the current controller 122. Although the exemplary
embodiment shows a case in which the instruction speed is provided
as a current form, that is, an instruction current, the case may be
changed according to exemplary embodiments of the present
disclosure.
[0070] The current controller 122 may receive phase information
(e.g., the magnetic flux angle) from the control determining unit
150 and the instruction speed from the speed controller 121. The
current controller 122 may calculate a d-axis instruction current
and a q-axis instruction current by using the instruction speed and
phase information and may provide the calculated instruction
currents to the coordinate reverse-converting unit 160. The
coordinate reverse-converting unit 160 may convert the instruction
current in the d-q coordinate system into a signal in the
three-phase coordinate system to thereby provide the signal to the
inverter unit 170.
[0071] FIG. 5 is a flow chart illustrating a motor driving control
method according to an exemplary embodiment of the present
disclosure. FIG. 6 is a flow chart illustrating an example of an
operation S520 of FIG. 5. FIG. 7 is a flow chart illustrating an
example of an operation S550 of FIG. 5.
[0072] Since various examples of the motor driving control method
to be described below are performed in the motor driving control
apparatus described above with reference to FIGS. 3 and 4, an
overlapped description for contents that are the same as or
correspond to the above-mentioned contents will be omitted.
[0073] Referring to FIG. 5, the motor driving control apparatus 100
may estimate an angle of a rotor of the motor apparatus 200 (S510).
In the case in which the angle of the rotor may not be estimated,
then the step S510 may be omitted.
[0074] The motor driving control apparatus 100 may perform the
synchronous start control operation by using the vector control
method (S520).
[0075] Next, the motor driving control apparatus 100 may calculate
the estimated speed of the rotor (S530).
[0076] If the estimated speed is equal to or less than a preset
value (YES of S540), the motor driving control apparatus 100 may
continuously perform the synchronous start control operation (S520
to S540).
[0077] Alternatively, if the estimated speed exceeds the preset
value (NO of S540), the motor driving control apparatus 100 may
perform the sensorless drive control operation of controlling the
rotation of the rotor, by using the instruction speed input from
the outside according to the vector control method.
[0078] Describing in more detail the synchronous start control
operation with reference to FIG. 6, the motor driving control
apparatus 100 may set an initial angle and a starting frequency
(S521).
[0079] The motor driving control apparatus 100 may set a second
angle (S522) and determine whether or not the starting frequency is
equal to or less than a preset frequency (S523).
[0080] If the frequency is equal to or less than a preset
frequency, the motor driving control apparatus 100 may increase the
starting frequency and re-set the second angle (S524).
[0081] Describing in more detail the sensorless drive control
operation with reference to FIG. 7, the motor driving control
apparatus 100 may detect a voltage and a current of the motor
apparatus (S551).
[0082] Next, the motor driving control apparatus 100 may calculate
a magnetic flux angle and a rotation speed of the motor apparatus
200 by using the detected voltage and current (S552).
[0083] The motor driving control apparatus 100 may calculate an
instruction speed by using the target speed input from the outside
and the magnetic flux angle and may perform calculation for a speed
control and a current control based on the calculated instruction
speed (S553).
[0084] The motor driving control apparatus 100 may perform a
coordinate switching of the calculated current and voltage (S554).
Here, since operations 5552 and 5553 are performed by using the d-q
coordinate system, operation S554 performs a switching of the d-q
coordinate system into the N-phase coordinate system.
[0085] As set forth above, according to exemplary embodiment of the
present disclosure, motor starting and motor driving may be freely
switched and rotational stability of the motor may be secured even
in a case of the switching by estimating the speed of the motor and
determining that the motor is in a starting state in the case in
which the estimated speed is equal to or less than a predetermined
level to thereby perform the synchronous start control operation
using the vector control method.
[0086] While exemplary embodiments have been shown and described
above, it will be apparent to those skilled in the art that
modifications and variations could be made without departing from
the spirit and scope of the present disclosure as defined by the
appended claims.
* * * * *